A method and system for determining feasible region of unmanned mining trucks on mining roads

Abstract

The present invention discloses a method and system for determining the feasible domain of unmanned mining trucks on mining roads. Step 1: measure the coordinates of the roadside on both sides of the road between the starting point and the end point, and use the starting point coordinates and the end point coordinates of the vehicle as diagonal lines to form a rectangular area; Step 2: divide the rectangular area into multiple grids with a fixed length; Step 3: use the four corners of each grid as positioning points to filter out all the positioning points in the road; Step 4: use the area formed by all the positioning points in the road as the feasible domain of the vehicle. The feasible routes of vehicles in mining roads can be obtained, providing a basis for unmanned driving of mining trucks.

Description

Technical Field

[0001] The invention belongs to the field of unmanned vehicle driving, and relates to a method and system for determining a feasible domain of an unmanned mining truck on a mining road. Background Art

[0002] With the development of science and technology, in the field of passenger cars, driverless technology is planned based on high-precision maps and road signs and markings. In mining areas, there are no high-precision maps provided by third parties. In addition, most roads in mining areas are unpaved, making it difficult to establish sound signs and markings. Therefore, maps for passenger cars cannot be used in mining areas. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art and provide a method and system for determining the feasible domain of unmanned mining trucks on mining roads, which can obtain the feasible routes of vehicles on mining roads and provide a basis for unmanned driving of mining trucks.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] A method for determining a feasible region of an unmanned mining truck on a mining road comprises the following steps:

[0006] Step 1: Measure the coordinates of the roadside on both sides of the road between the starting point and the end point, and use the starting point coordinates and the end point coordinates of the vehicle as diagonal lines to form a rectangular area;

[0007] Step 2: Divide the rectangular area into multiple grids with fixed lengths;

[0008] Step 3: The four corners of each grid are used as positioning points to filter out all the positioning points within the road;

[0009] Step 4: The area formed by all the positioning points on the road is used as the feasible area of ​​the vehicle.

[0010] Preferably, in step 1, the process of acquiring the coordinates of the roadside edges on both sides of the road is as follows: obtaining the distance from the vehicle to the left side of the roadside, thereby determining that the coordinates of the left side of the roadside are respectively (X 0i ,Y 0i )(i=0,1,…,m), the coordinates of the right edge are (X 1i ,Y 1j )(j=0,1,…,n).

[0011] Preferably, in step 1, the process of obtaining the rectangular area is as follows: the minimum coordinates (x min ,y min ) as the starting point, the maximum coordinate (x max ,y max) as the end point, and the minimum coordinate (x min ,y min ) as the coordinates of one of the corners of the rectangle, the maximum coordinate (x min ,y min ) as the coordinates of the diagonal of the minimum coordinate to determine the rectangular area.

[0012] Preferably, when measuring the roadside coordinates on both sides of the road between the starting point and the end point, a measurement is performed every A meters, and the grid side length is greater than or equal to the roadside measurement interval A.

[0013] Preferably, in step 3, the process of determining whether the positioning point is located within the road is:

[0014] The positioning point is P s (x s ,y s ), find the nearest point P on the left edge 0near (x 0near ,y 0near ) and the coordinates P of the next point in the direction of motion 0near+1 (x 0near+1 ,y 0near+1 ), find the nearest point P on the right side of the road 1near (x 1near ,y 1near ) and the coordinates P of the next point in the direction of motion 1near+1 (x 1near+1 ,y 1near+1 );

[0015] According to the vector calculation method η=(x near -x s )×(y near+1 -y s )-(y near -y s )×(x near+1 -x s );

[0016] When η is positive, the coordinate P s Located in vector P near →P near+1 When η is negative, the coordinate P s Located in vector P near →P near+1 on the right;

[0017] Substitute the coordinates of the nearest point and the next point on the left and right sides of the road into η, and we get η left and η right When η left is negative and η right When it is positive, it means that the point is between the two sides of the road edge and is inside the road;

[0018] where x near ,y near They are: the horizontal and vertical coordinates of the nearest point along one side of the road, x near+1 ,y near+1 They are: the coordinates and ordinate of the next point on one side of the track along the direction of movement of the nearest point.

[0019] Preferably, after screening out all the positioning points on the road, the relationship between the vehicle width and the safety distance and the closest distance from each positioning point to the road edge is determined in turn, D min ≥W T / 2+D safe , D min is the shortest distance from the current positioning point to the road edge, W T is the width of the truck, D safe For a safe distance, the positioning points that do not satisfy the above relationship are eliminated.

[0020] Further, D safe The calculation method is: simplify the vehicle motion model to a bicycle motion model, and the calculation method of the internal difference between the front and rear wheels when turning is:

[0021]

[0022] Where R is the turning radius, L is the wheelbase, and δ is the front wheel steering angle;

[0023] The maximum value of the internal difference is taken as the safety distance D safe .

[0024] A system for determining the feasible region of unmanned mining trucks on mining roads, comprising:

[0025] A rectangular area construction module is used to measure the coordinates of the road edges on both sides of the road between the starting point and the end point, and use the starting point coordinates and the end point coordinates of the vehicle as diagonal lines to form a rectangular area;

[0026] A grid division module is used to divide a rectangular area into multiple grids with a fixed length;

[0027] The positioning point screening module uses the four corners of each grid as positioning points to screen out all the positioning points within the road;

[0028] The traversable route determination module is used to connect all the positioning points on the road in sequence, and the obtained connection line is the traversable route of the vehicle.

[0029] A computer device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the method for determining the feasible domain of an unmanned mining truck on a mining road as described in any one of the above items are implemented.

[0030] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the method for determining the feasible domain of an unmanned mining truck on a mining road as described in any one of the above items.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] The present invention obtains the coordinates of both sides of the road edge, finds the minimum coordinate of the road edge on both sides as the starting point and the maximum coordinate as the ending point, determines the rectangular area, rasterizes the rectangular area, and takes a point at the intersection of the grids to determine whether the point is in the middle of the road, thereby obtaining the feasible domain of the vehicle. In the mining area, there is no high-precision map provided by a third party. The method is used to model the feasible domain and obtain the feasible routes of vehicles in the mining area roads, which provides a basis for unmanned driving of mining trucks and is of great significance to the unmanned driving neighborhood of mining trucks.

[0033] Furthermore, the positioning points that do not meet the vehicle width and the safety distance greater than the shortest distance from the current positioning point to the road edge are eliminated to ensure road safety and avoid vehicles colliding with the road edge. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the process of the present invention;

[0035] Figure 2 This is a schematic diagram of a vehicle motion model in the present invention being simplified into a bicycle motion model. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0037] It should be noted that the words "front", "rear", "left", "right", "up" and "down" used in the following description refer to directions in the drawings, and the words "inside" and "outside" refer to directions toward or away from the geometric center of a specific component, respectively.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0039] like Figure 1 As shown, the method for determining the feasible region of unmanned mining trucks on mining roads according to the present invention comprises the following steps:

[0040] Step 1: Determine the rectangular area where the vehicle is traveling, which specifically includes the following steps:

[0041] Step 1.1: Take the dispatching station or crushing port in the mining area as the origin of the map, measure the road edge of the mining area every A meters, and convert the GPS coordinates into distance coordinates relative to the origin of the map for storage.

[0042] Step 1.2: Obtain the distance from the mining truck to the left edge of the road through laser ranging, so as to determine the coordinates of the left edge of the road (X 0i ,Y 0i )(i=0,1,…,m), the coordinates of the right edge are (X 1i ,Y 1j )(j=0,1,…,n), the minimum coordinates of the two sides of the road edge (x min ,y min ) as the starting point, the maximum coordinate (x max ,y max ) as the end point, a rectangular area can be determined by two coordinates.

[0043] Step 2: Divide the rectangular area into multiple grids with a fixed length; the method of rasterizing the rectangular area is:

[0044] Assume that the grid is a square with a side length of S meters, and the side length of the grid is greater than the measurement interval A along the road. The four corners of each grid are used as positioning points.

[0045] Step 3: Determine whether each positioning point is in the road according to the distance relationship between the positioning point of each grid and the edges on both sides of the road; wherein the method for determining the distance relationship between the grid positioning point and the edges on both sides of the road specifically comprises the following steps:

[0046] Step 3.1: Known P s (x s ,y s ) coordinates, find the nearest point P on the left edge of the road 0near (x 0near ,y 0near) and the coordinates P of the next point in the direction of motion 0near+1 (x 0near+1 ,y 0near+1 ), find the nearest point P on the right side of the road 1near (x 1near ,y 1near ) and the coordinates P of the next point in the direction of motion 1near+1 (x 1near+1 ,y 1near+1 );

[0047] Step 3.2: According to the vector calculation method η=(x near -x s )×(y near+1 -y s )-(y near -y s )×(x near+1 -x s )(1);

[0048] When η is positive, the coordinate P s Located in vector P near →P near+1 When η is negative, the coordinate P s Located in vector P near →P near+1 on the right.

[0049] Substitute the coordinates of the nearest point and the next point on the left and right sides of the road edge into formula (1) to obtain η left and η right When η left is negative and η right When it is positive, it means that the point is located between the road edges on both sides and is a road.

[0050] where x near ,y near They are: the horizontal and vertical coordinates of the nearest point along one side of the road, x near+1 ,y near+ 1 are respectively: the coordinates and ordinates of the next point on one side of the track along the direction of movement of the nearest point.

[0051] Step 4: Consider the relationship between the truck width and the safety distance and the shortest distance from each positioning point to the roadside, so as to determine whether each positioning point can be used for the vehicle to pass; wherein the method for determining the relationship between the truck width and the safety distance and the shortest distance from the current positioning point to the roadside is: min ≥W T / 2+D safe .

[0052] In this method, D min Current coordinates P sThe closest distance to the road edge, W T is the width of the truck, D safe For a safe distance.

[0053] When the above relationship is satisfied, the positioning point P s Can be used for the vehicle to pass, that is, P s is the feasible region point of the road.

[0054] Secondly D safe The calculation method is:

[0055] Since the wheelbase of unmanned mining trucks is long, there is an internal difference between the front and rear wheels when turning.

[0056] The vehicle motion model is simplified to a bicycle motion model, such as Figure 2 As shown, the calculation method of the internal difference is:

[0057]

[0058] Where R is the turning radius, L is the wheelbase, and δ is the front wheel steering angle.

[0059] The safety distance should be the maximum value of the internal difference χ max =D safe , in order to improve the calculation speed, so the maximum value of the internal difference χ max The safety distance D safe .

[0060] Step 5: Determine the area formed by each positioning point that can be used for vehicle passage as the feasible area of ​​the vehicle.

[0061] Determine the rasterized positioning point P through steps 3 and 4 s Whether it is a point in the feasible domain, the two-dimensional matrix M[m][n] is used to save the calculation results. If this grid is judged to be between two edges, that is, in the feasible domain, the corresponding two-dimensional matrix element is set to true, otherwise it is set to false.

[0062] The method for describing the feasible domain on which an unmanned mining truck can travel on a mining road of the present invention uses GPS to obtain the precise positioning of the mining truck, and then obtains the distance from the mining truck to both sides of the road edge according to laser ranging, thereby obtaining the precise coordinates of both sides of the road edge, and through a large amount of laser ranging data, finds the minimum coordinate of the road edge on both sides as the starting point and the maximum coordinate as the end point, further determines the rectangular area, rasterizes the rectangular area, takes a point at the intersection of the grids, and determines whether the point is in the middle of the road by using a vector difference method, that is, the desired feasible domain range. In the mining area, there is no high-precision map provided by a third party, and the method is used to model the feasible domain, which is of great significance for the unmanned driving neighborhood of the mining truck.

[0063] The following are device embodiments of the present invention, which can be used to perform method embodiments of the present invention. For details not disclosed in the device embodiments, please refer to the method embodiments of the present invention.

[0064] In yet another embodiment of the present invention, a system for determining a feasible domain of unmanned mining trucks on mining area roads is provided. The system for determining a feasible domain of unmanned mining trucks on mining area roads can be used to implement the above-mentioned method for determining a feasible domain of unmanned mining trucks on mining area roads. Specifically, the system for determining a feasible domain of unmanned mining trucks on mining area roads includes a rectangular area construction module, a grid division module, a positioning point screening module and a traversable route determination module.

[0065] Among them, the rectangular area construction module is used to measure the coordinates of the roadside on both sides of the road between the starting point and the end point, and use the starting point coordinates and the end point coordinates of the vehicle as diagonal lines to form a rectangular area; the grid division module is used to divide the rectangular area into multiple grids with a fixed length; the positioning point screening module uses the four corners of each grid as positioning points to screen out all the positioning points on the road; the traversable route determination module is used to connect all the positioning points on the road in sequence, and the resulting connection line is the traversable route of the vehicle.

[0066] In yet another embodiment of the present invention, a terminal device is provided. The terminal device includes a processor and a memory, wherein the memory is used to store a computer program, the computer program includes program instructions, and the processor is used to execute the program instructions stored in the computer storage medium. The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. It is the computing core and control core of the terminal, which is suitable for implementing one or more instructions, and is specifically suitable for loading and executing one or more instructions to implement corresponding method processes or corresponding functions; the processor described in the embodiment of the present invention can be used for the operation of the method for determining the feasible domain of unmanned mining trucks on mining roads, including: step 1: measuring the coordinates of the roadside of both sides of the road between the starting point and the end point, and using the starting point coordinates and the end point coordinates of the vehicle as diagonal lines to form a rectangular area; step 2: dividing the rectangular area into multiple grids with a fixed length; step 3: using the four corners of each grid as positioning points, and screening out all positioning points in the road; step 4: using the area formed by all positioning points in the road as the feasible domain of the vehicle.

[0067] In another embodiment, the present invention further provides a computer-readable storage medium (Memory), which is a memory device in a terminal device for storing programs and data. It is understandable that the computer-readable storage medium here can include both the built-in storage medium in the terminal device and the extended storage medium supported by the terminal device. The computer-readable storage medium provides a storage space, which stores the operating system of the terminal. In addition, one or more instructions suitable for being loaded and executed by the processor are also stored in the storage space, and these instructions can be one or more computer programs (including program codes). It should be noted that the computer-readable storage medium here can be a high-speed RAM memory or a non-volatile memory, such as at least one disk memory.

[0068] One or more instructions stored in a computer-readable storage medium can be loaded and executed by a processor to implement the corresponding steps of the method for determining the feasible domain of an unmanned mining truck on a mining road in the above-mentioned embodiment; one or more instructions in the computer-readable storage medium are loaded by the processor and the following steps are executed: Step 1: Measure the coordinates of the road edges on both sides of the road between the starting point and the end point, and use the starting point coordinates and the end point coordinates of the vehicle as diagonal lines to form a rectangular area; Step 2: Divide the rectangular area into multiple grids with a fixed length; Step 3: Use the four corners of each grid as positioning points to filter out all positioning points in the road; Step 4: Use the area formed by all positioning points in the road as the feasible domain of the vehicle.

[0069] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0070] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0071] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0072] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0073] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0074] It should be understood that the above description is for illustration and not for limitation. Many embodiments and many applications beyond the examples provided will be apparent to those skilled in the art upon reading the above description. Therefore, the scope of the present teachings should not be determined with reference to the above description, but rather with reference to the foregoing claims and the full scope of equivalents to which such claims are entitled. For the purpose of comprehensiveness, all articles and references, including disclosures of patent applications and publications, are incorporated herein by reference. The omission of any aspect of the subject matter disclosed herein in the foregoing claims is not intended to be a waiver of such subject matter, nor should it be considered that the applicant has not considered such subject matter to be part of the disclosed inventive subject matter.

Claims

1. A method for determining the feasible region of unmanned mining trucks on mining roads, characterized in that: The following steps are involved: Step 1: Measure the coordinates of the roadside on both sides of the road between the starting point and the end point, and use the starting point coordinates and the end point coordinates of the vehicle as diagonal lines to form a rectangular area; Step 2: Divide the rectangular area into multiple grids with fixed lengths; Step 3: The four corners of each grid are used as positioning points to filter out all the positioning points within the road; The process of determining whether the positioning point is located within the road is as follows: The positioning point is , find the nearest point to the left edge and the coordinates of its next point in the direction of motion , find the nearest point on the right side of the road and the coordinates of its next point in the direction of motion ; According to the vector calculation method ; when When positive, the coordinate Located in vector on the left; when When it is negative, the coordinate Located in vector on the right; Substitute the coordinates of the nearest point and the next point on the left and right sides of the road into In, get and ; when is negative and When it is positive, it means that the point is between the two sides of the road edge and is inside the road; in They are: the horizontal and vertical coordinates of the nearest point along one side of the road, They are: the coordinates and ordinate of the next point on one side of the track along the direction of motion of the nearest point; Step 4: The area formed by all the positioning points on the road is used as the feasible area of ​​the vehicle.

2. The method for determining the feasible region of unmanned mining trucks on mining roads according to claim 1 is characterized in that: In step 1, the process of obtaining the coordinates of the roadside edges on both sides of the road is as follows: obtaining the distance from the vehicle to the left roadside edge, thereby determining the coordinates of the left roadside edge as , the coordinates of the right edge are .

3. The method for determining the feasible region of unmanned mining trucks on mining roads according to claim 1 is characterized in that: In step 1, the process of obtaining the rectangular area is as follows: the minimum coordinates of the road edges on both sides of the road As the starting point, the maximum coordinate As the end point, the minimum coordinate As the coordinates of one of the corners of the rectangle, the maximum coordinate As the coordinates of the diagonal angle of the minimum coordinate, the rectangular area is determined.

4. The method for determining the feasible region of unmanned mining trucks on mining roads according to claim 1 is characterized in that: When measuring the coordinates of the roadside edges on both sides of the road between the starting point and the end point, a measurement is performed every A meters, and the grid side length is greater than or equal to the roadside measurement spacing A.

5. The method for determining the feasible region of unmanned mining trucks on mining roads according to claim 1 is characterized in that: After screening out all the positioning points on the road, the relationship between the vehicle width and the safety distance and the closest distance from each positioning point to the road edge is determined in turn. , D min is the shortest distance from the current positioning point to the road edge, W T is the width of the truck, D safe For a safe distance, the positioning points that do not satisfy the above relationship are eliminated.

6. The method for determining the feasible region of unmanned mining trucks on mining roads according to claim 5 is characterized in that: D safe The calculation method is: simplify the vehicle motion model to a bicycle motion model, and the calculation method of the internal difference between the front and rear wheels when turning is: Where R is the turning radius, L is the wheelbase, is the front wheel steering angle; The maximum value of the internal difference is taken as the safety distance D safe .

7. A system for determining the feasible region of unmanned mining trucks on mining roads, characterized in that: include: A rectangular area construction module is used to measure the coordinates of the road edges on both sides of the road between the starting point and the end point, and use the starting point coordinates and the end point coordinates of the vehicle as diagonal lines to form a rectangular area; A grid division module is used to divide a rectangular area into multiple grids with a fixed length; The positioning point screening module uses the four corners of each grid as positioning points to screen out all the positioning points within the road; The process of determining whether the positioning point is located within the road is as follows: The positioning point is , find the nearest point to the left edge and the coordinates of its next point in the direction of motion , find the nearest point on the right side of the road and the coordinates of its next point in the direction of motion ; According to the vector calculation method ; when When positive, the coordinate Located in vector on the left; when When it is negative, the coordinate Located in vector on the right; Substitute the coordinates of the nearest point and the next point on the left and right sides of the road into In, get and ;when is negative and When it is positive, it means that the point is between the two sides of the road edge and is inside the road; in They are: the horizontal and vertical coordinates of the nearest point along one side of the road, They are: the coordinates and ordinate of the next point on one side of the track along the direction of motion of the nearest point; The traversable route determination module is used to connect all the positioning points on the road in sequence, and the obtained connection line is the traversable route of the vehicle.

8. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method for determining the feasible domain of unmanned mining trucks on mining roads as described in any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method for determining the feasible domain of unmanned mining trucks on mining roads as described in any one of claims 1 to 6 are implemented.

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